CN116767428B - Mooring system and monitoring method of floating type offshore wind power platform - Google Patents
Mooring system and monitoring method of floating type offshore wind power platform Download PDFInfo
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Abstract
A mooring system of a floating type offshore wind power platform comprises a static mooring system and a dynamic mooring system; the static mooring system comprises three mooring lines; the centers of the upright posts and the mooring rope bundles are consistent; the dynamic mooring system comprises a power unit, a propeller unit and a control unit; the power unit comprises a prime motor, a generator set, a distribution board and a cable; the propeller unit comprises a supporting rotating shaft, a propeller, a rotating motor and a universal joint; the control unit comprises a positioning system, a sensor, a computer system, a control interface, a control strategy module and a power management module; a group of propeller units are arranged below the upright post of the platform, and each group of propeller units comprises 1-4 propeller units; the platform monitoring system monitors the platform, acquires the real-time motion level and mooring tension of the platform, calculates the power required by the propeller unit according to the requirements of the platform on offset inclination and mooring tension in the real-time motion state, and is executed by the propeller unit.
Description
Technical Field
The invention relates to the technical field of mooring systems of offshore wind power platforms, in particular to a mooring system, a monitoring system and a monitoring method of a floating offshore wind power platform.
Background
Conventional single point mooring system forms include tower soft rigid arms, catenary buoys, single-leg buoys, inner turret, outer turret, conventional common 3*3, 3*2, 6*1, 8*1, etc. arrangements of conventional multi-point mooring systems. Because the marine environment condition is bad, the offshore floating fan is often subjected to larger wind wave and current load, the existing mooring system arranged cannot meet the requirement of resisting the large load, namely, the load born by the mooring system is increased along with the influence of the wind wave, the resisting structure is static, and the safety and the reliability of the mooring system cannot be increased under the condition of increasing along with the load; the static load of the mooring system is lack of effective monitoring, and under the condition that the mooring system is subjected to critical load, effective load reduction and management cannot be carried out;
In the prior art, application number 2023103264852, a floating type offshore wind power foundation and an installation method thereof, a floating type offshore wind power foundation is provided, the gravity center of the floating type foundation is lowered by suspending a ballast caisson, and the swing motion damping of the floating type foundation is increased, so that the overall size can be reduced, but the load is severely changed, and a countermeasure is lacking, so that the floating type foundation is still a static load resisting mode;
The application number 2023103161930 is a mooring rope tension device for monitoring a marine floating structure and a monitoring method thereof, and provides a method for evaluating the load condition by comprehensively monitoring the tension of a mooring rope of the floating structure and the change of the attitude movement mainly through comprehensively monitoring the tension of the mooring rope of the floating structure, aiming at the problems of high requirement on the installation precision and high cost of the permanent fixed mooring system and the old platform mooring system in the prior art in the process of installation and maintenance, wherein the object of interest is a body for carrying the tension load of a floating object, and whether overload and fracture deformation risks occur are predicted by observing the load; the safety is evaluated by observing the pre-judging risk, but for the severe change of the load, no countermeasure is provided, and the measured load belongs to the impending reality, can not cope with the load change of a larger scale in the future, such as one hour or half a day later, and is difficult to overcome the hidden trouble of the impending severe change of the load;
The application number CN2023105274986, the real-time mooring force monitoring system and method of the deepwater inward-rotation tower type single point are provided, the real-time and accurate monitoring of the mooring force of the deepwater inward-rotation tower type single point can be realized, the model is built and checked, the scheme is suitable for floating production, oil storage and oil discharge vessels, is not suitable for floating offshore wind power platforms, and aims at the deepwater inward-rotation tower type single point mooring system, and the method is a mode of static load resistance in the face of severe load change and lack of countermeasures;
Accordingly, there is a need for a mooring system and monitoring method for a floating offshore wind farm platform that overcomes the above-mentioned problems.
Disclosure of Invention
In view of the above, the present invention is directed to providing a mooring system and a monitoring method for a floating offshore wind power platform, which have low mooring line load.
The application aims to solve one of the problems in the background art, the existing multipoint mooring system is used together with a dynamic positioning system, the motion state of a platform and the tension of the mooring system are monitored in real time through a platform monitoring system, when the motion of the platform reaches a certain critical point, a dynamic status system is started, propeller unit equipment below the platform is started, by reading real-time data of the motion state of the current platform and the tension of the mooring system, the corresponding thrust load is calculated, so that the platform can be limited in a certain motion range and the requirement of the tension of the mooring system is met, the power of the propeller unit is calculated finally, and the power is fed back to three groups of propeller units below the platform to perform real-time working operation.
The technical scheme adopted by the invention is that in order to achieve the above purpose and other related purposes, the following technical scheme is provided:
a mooring system of a floating type offshore wind power platform comprises a static mooring system and a dynamic mooring system;
The static mooring system comprises three mooring rope bundles, wherein the mooring rope bundles are connected with the upright posts of the platform; the mooring rope bundle consists of 1-3 mooring ropes, and the mooring rope bundle is in a catenary shape; the centers of the upright posts and the mooring rope bundles are consistent;
the dynamic mooring system comprises a power unit, a propeller unit and a control unit;
the power unit comprises a prime motor, a generator set, a distribution board and a cable;
The propeller unit comprises a supporting rotating shaft, a propeller, a rotating motor and a universal joint;
The control unit comprises a positioning system, a sensor, a computer system, a control interface, a control strategy module and a power management module;
A group of propeller units are arranged below the upright post of the platform, and each group of propeller units comprises 1-4 propeller units.
The mooring system technical scheme of the floating offshore wind power platform provided by the application further comprises the following technical characteristics:
preferably, the columns of the platform are arranged in an annular array, and the center of the array is the center of the platform or the center of all column arrangements.
Preferably, the mooring lines are arranged in an annular array, the center of the array being the center of the platform or the center of all column arrangements.
Preferably, the angle between mooring lines is 120 °.
Preferably, each group of thruster units consists of one thruster unit, which is mounted directly under the upright.
Preferably, each group of propeller units consists of two propeller units which are respectively and symmetrically arranged at two sides below the upright post.
Preferably, each group of propeller units consists of three propeller units which are uniformly distributed below the upright post, are in an equilateral triangle shape and have equal distance with the central shaft of the upright post.
Preferably, each group of propeller units consists of four propeller units, and the four propeller units are respectively arranged below four corners of the upright post and have the same distance with the central shaft of the upright post.
Preferably, each group of propeller units has a degree of freedom of 360 degrees rotation in the horizontal direction and 90 degrees rotation in the vertical direction up and down.
A platform monitoring system of a mooring system of a floating type offshore wind power platform comprises a positioning monitoring system and an environment measuring system;
The positioning monitoring system comprises a satellite positioning system, a laser positioning system and an underwater ultra-short baseline acoustic positioning device, and the positioning system calculates and obtains the actual direction and position of the platform through measuring the deviation of the direction and distance between the platform and a reference point;
The environment measurement system comprises a platform motion measurement system, an anemoclinograph, an electric compass, a mooring system tension monitoring system and an offshore hydro-meteorological observation platform; the environment measurement system is used for measuring motion parameters of the platform in six degrees of freedom directions, tension values of the mooring system, wind speed and wind direction parameters of the fan and wave flow parameters of the environment where the platform is located, so that external force load born by the platform is estimated and obtained.
The platform monitoring system monitors the platform to obtain real-time motion and mooring tension of the platform, calculates the power required by the propeller unit according to the requirements of the platform on offset inclination and mooring tension in a real-time motion state, and is executed by the propeller unit;
First, the external environmental conditions are read by an environmental measurement system: calculating the external load of the platform under the environment by wind, wave and current; reading real-time tension of the mooring system through a positioning monitoring system; reading the relative position and direction of a fan foundation platform through a fan platform positioning monitoring system; the method comprises the steps that the acceleration and the speed of six-degree-of-freedom motion of a platform are read through a fan platform motion monitoring system;
Secondly, importing the data obtained after analysis into a computer system, and combining the characteristics of the fan platform according to the design and positioning requirements of the fan platform: the self characteristics include weight, center, floating center, static water rigidity and damping parameters, and the acting force required for maintaining the displacement and direction of the platform is calculated by the computer system, and the acting force is the resultant force which is generated by the whole thrust system.
The technical scheme of the platform monitoring method of the mooring system of the floating offshore wind power platform provided by the application also comprises the following technical characteristics:
preferably, wind tilting moment caused by aerodynamic load of the wind turbine generator is evaluated by adopting a method of a phyllanthin momentum theory, and the calculation formula is as follows:
Wherein: ρ is the air density; g T is the thrust coefficient; a rotor is the swept area of the wind wheel, A rotor＝πR2 and R is the radius of the wind wheel; u 10min is the average wind speed of the hub height for 10 min;
the wave load to which the fan foundation is subjected can be calculated from the measured spectrum by the following formula:
in the method, in the process of the invention, Is an average wave force molecule; beta is the wave direction relative to the longitudinal axis of the platform; /(I)Is the wave drift coefficient relative to the wave direction; s (ω) is the spectrum;
the average wind load on the fan foundation can be obtained through calculation through the measured wind speed, and the calculation formula is as follows:
in the method, in the process of the invention, The wind power coefficient of each direction of the fan foundation; beta is the wind direction relative to the longitudinal axis of the platform; /(I)Is the average wind speed;
The flow load to which the fan foundation is subjected can be calculated from the measured flow rate by the following formula:
in the method, in the process of the invention, Primary flow force coefficients in all directions of the fan foundation; /(I)Secondary flow coefficients in all directions of the fan foundation; /(I)Flow rate as a horizontal component; v 1,v2 is the longitudinal and transverse speeds of the platform;
the fan platform calculates the static balance calculation formula as follows:
Fmo(x)+fhs(x)+fth(x)+Fcu(x)+Fwi(x)+Fwd(x)+Fwa(x)＝0
Wherein F mo (x) is mooring tension; f hs (x) is the static force of the platform foundation; f th (x) is the total force of the propeller units; f cu (x) is the flow load to which the platform foundation is subjected; f wi (x) is the wind load applied to the platform foundation; f wd (x) is the wind load applied to the wind turbine generator; f wa (x) is the wave load to which the platform foundation is subjected.
Preferably, a group thruster unit control method is included for at least two groups of thruster unit controls;
the propulsion can be controlled by monitoring platform motion variables in real time, and the calculation formula is as follows:
Fth(x)＝-GPΔx-GVv+F0
Wherein G P is a displacement coefficient matrix; g V is a velocity coefficient matrix; Δx is the platform displacement matrix; v is a platform velocity matrix; f 0 is the thrust constant;
the resultant thrust force is formed by combining thrust forces generated by the propeller units, and the calculation formula is as follows:
Fth(x)＝AT
wherein A is a propeller unit matrix, which consists of the positions and directions of all propeller units, and the expression is as follows:
Wherein x 1 is the longitudinal coordinate of the propeller unit relative to the center of the platform; y 1 is the lateral coordinate of the propeller unit relative to the center of the platform; z 1 is the vertical coordinate of the propeller unit relative to the center of the platform; alpha 1 is the horizontal angle of the propeller unit relative to the center of the platform; beta 1 is the vertical inclination angle of the propeller unit relative to the center of the platform;
t is the thrust matrix of the propeller unit, and the expression is as follows:
where T is the thrust generated by each propeller unit.
And distributing all the thrust required by each propeller unit according to the position and the direction of the propeller unit, combining the duty ratio of each propeller unit according to the direction and the position of each propeller unit, and meeting the requirements of the total thrust and the direction by taking the minimum total thrust and the total power of the propeller units as optimization targets.
The invention has the following beneficial effects:
1. Combining a traditional mooring mode with a dynamic positioning system; the tension of the traditional mooring cable can be reduced, and the maximum deflection and the inclination angle of the platform foundation can be reduced, so that the scheme has beneficial effects on the selection of the mooring cable, the dynamic cable and the fan unit and the service life thereof
2. The propeller units are arranged below the traditional semi-submersible platform foundation, and a group of propeller units are respectively arranged below the three upright posts;
3. controlling the propeller unit, calculating how much corresponding thrust load is needed to limit the platform to a certain movement range and meet the requirement of mooring tension, and finally calculating the power of the propeller unit;
The invention combines the traditional mooring mode with the dynamic positioning system, can reduce the load borne by the mooring cable, and simultaneously reduces the maximum deflection and the inclination angle of the platform foundation, thereby having certain benefits for dynamic cables, fan efficiency and service life.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a mooring system for a floating offshore wind platform according to the present invention;
FIG. 2 is a diagram of the dynamic positioning system of the mooring system of the floating offshore wind platform of the present invention;
FIG. 3 is a block diagram of a propeller unit of a mooring system for a floating offshore wind platform in accordance with the present invention;
FIG. 4 is a schematic illustration of a mooring system for a floating offshore wind platform according to the present invention;
FIG. 5 is a schematic illustration of a mooring system for a floating offshore wind platform according to the present invention;
FIG. 6 is a flow chart of a mooring system for a floating offshore wind platform of the present invention;
In the figure:
1. Upright post
2. Float bowl
3. Mooring rope
4. Propeller unit
5. Support rotating shaft
6. Propeller propeller
7. Rotary motor
8. Universal joint
9. A platform.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and are not intended to be limiting.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
1-3, A mooring system for a floating offshore wind platform, comprising a static mooring system and a dynamic mooring system;
As shown in fig. 1, the static mooring system comprises three mooring lines connected to the columns 1 of the platform; the mooring rope bundle consists of 1-3 mooring ropes 3, and is in a catenary shape; the center of the upright post 1 and the mooring rope bundle are consistent;
as in fig. 2-3, the dynamic mooring system comprises a power unit, a thruster unit 4 and a control unit;
the power unit comprises a prime motor, a generator set, a distribution board and a cable;
The propeller unit 4 comprises a supporting rotating shaft 5, a propeller 6, a rotating motor 7 and a universal joint 8;
The control unit comprises a positioning system, a sensor, a computer system, a control interface, a control strategy module and a power management module;
As shown in fig. 2,4 and 5, a group of propeller units 4 are installed below the upright post 1 of the platform 9, each group of propeller units comprises 1-4 propeller units 4, the choice and specific number of the propeller units 4 are determined by actual design, and the propeller units 4 are matched with a mooring system to keep the wind power platform to be safely and stably positioned within a re-target range through the generated longitudinal, lateral and vertical thrust and rotation moment.
Specifically, the columns 1 of the platform 9 are arranged in an annular array, and the center of the array is the center of the platform or the center of all column arrangements.
Specifically, the mooring cable bundles are arranged in an annular array, and the center of the array is the center of the platform or the center of all upright post arrangements.
Specifically, the included angle between mooring lines is 120 °.
Specifically, each group of propeller units consists of one propeller unit, and the propeller units are arranged right below the upright posts.
Specifically, each group of propeller units consists of two propeller units which are respectively and symmetrically arranged at two sides below the upright post.
Specifically, each group of propeller units consists of three propeller units which are uniformly distributed below the upright post, are in an equilateral triangle shape and have equal distance with the central shaft of the upright post.
Specifically, each group of propeller units consists of four propeller units, and the four propeller units are respectively arranged below four corners of the upright post and have the same distance with the central shaft of the upright post.
Specifically, each group of propeller units has a degree of freedom of 360 degrees rotation in the horizontal direction and 90 degrees rotation in the vertical direction up and down.
As shown in fig. 6, a platform monitoring method of a mooring system of a floating offshore wind power platform is provided, the platform monitoring system monitors the platform, obtains real-time motion level and mooring tension of the platform, calculates power required by a propeller unit according to requirements of the platform on offset inclination and mooring tension in a real-time motion state, and the power is executed by the propeller unit; in the implementation, the platform is monitored by the platform monitoring system, the real-time movement level and the mooring tension of the platform are fed back, and the power of the propeller unit is calculated according to the requirements of the platform on offset inclination and mooring tension in the real-time movement state.
Referring to FIG. 6, a platform monitoring system for a mooring system for a floating offshore wind platform includes a positioning monitoring system and an environmental measurement system;
The positioning monitoring system comprises a satellite positioning system, a laser positioning system and an underwater ultra-short baseline acoustic positioning device, and the positioning system calculates and obtains the actual direction and position of the platform through measuring the deviation of the direction and distance between the platform and a reference point;
The environment measurement system comprises a platform motion measurement system, an anemoclinograph, an electric compass, a mooring system tension monitoring system and an offshore hydro-meteorological observation platform; the environment measurement system is used for measuring motion parameters of the platform in six degrees of freedom directions, tension values of the mooring system, wind speed and wind direction parameters of the fan and wave flow parameters of the environment where the platform is located, so that external force load born by the platform is estimated and obtained.
A platform monitoring method of a mooring system of a floating offshore wind power platform, comprising the steps of: first, the external environmental conditions are read by an environmental measurement system: calculating the external load of the platform under the environment by wind, wave and current; reading real-time tension of the mooring system through a positioning monitoring system; reading the relative position and direction of a fan foundation platform through a fan platform positioning monitoring system; the method comprises the steps that the acceleration and the speed of six-degree-of-freedom motion of a platform are read through a fan platform motion monitoring system;
Secondly, importing the data obtained after analysis into a computer system, and combining the characteristics of the fan platform according to the design and positioning requirements of the fan platform: the self characteristics include weight, center, floating center, static water rigidity and damping parameters, and the acting force required for maintaining the displacement and direction of the platform is calculated by the computer system, and the acting force is the resultant force which is generated by the whole thrust system.
Specifically, wind inclination moment caused by aerodynamic load of the wind turbine generator is evaluated by adopting a method of a phyllanthin momentum theory, and the calculation formula is as follows:
Wherein: ρ is the air density; c T is the thrust coefficient; a rotor is the swept area of the wind wheel, A rotor＝πR2 and R is the radius of the wind wheel; u 10min is the average wind speed of the hub height for 10 min;
the wave load to which the fan foundation is subjected can be calculated from the measured spectrum by the following formula:
in the method, in the process of the invention, Is an average wave force molecule; beta is the wave direction relative to the longitudinal axis of the platform; /(I)Is the wave drift coefficient relative to the wave direction; s (ω) is the spectrum.
The average wind load on the fan foundation can be obtained through calculation through the measured wind speed, and the calculation formula is as follows:
in the method, in the process of the invention, The wind power coefficient of each direction of the fan foundation; beta is the wind direction relative to the longitudinal axis of the platform; /(I)Is the average wind speed
The flow load to which the fan foundation is subjected can be calculated from the measured flow rate by the following formula:
in the method, in the process of the invention, Primary flow force coefficients in all directions of the fan foundation; /(I)Secondary flow coefficients in all directions of the fan foundation; /(I)Flow rate as a horizontal component; v 1,v2 is the longitudinal and transverse speed of the platform.
The fan platform calculates the static balance calculation formula as follows:
Fmo(x)+Fhs(x)+Fth(x)+Fcu(x)+Fwi(x)+Fwd(x)+Fwa(x)＝0
Wherein F mo (x) is mooring tension; f hs (x) is the static force of the platform foundation; f th (x) is the total force of the propeller units; f cu (x) is the flow load to which the platform foundation is subjected; f wi (x) is the wind load applied to the platform foundation; f wd (x) is the wind load applied to the wind turbine generator; f wa (x) is the wave load to which the platform foundation is subjected.
Specifically, as shown in fig. 6, a group propeller unit control method is included for at least two groups of propeller unit control;
the propulsion can be controlled by monitoring platform motion variables in real time, and the calculation formula is as follows:
Fth(x)＝-GPΔx-GVv+F0
Wherein G P is a displacement coefficient matrix; g V is a velocity coefficient matrix; Δx is the platform displacement matrix; v is a platform velocity matrix; f 0 is the thrust constant;
the resultant thrust force is formed by combining thrust forces generated by the propeller units, and the calculation formula is as follows:
Fth(x)＝AT
wherein A is a propeller unit matrix, which consists of the positions and directions of all propeller units, and the expression is as follows:
Wherein x 1 is the longitudinal coordinate of the propeller unit relative to the center of the platform; y 1 is the lateral coordinate of the propeller unit relative to the center of the platform; z 1 is the vertical coordinate of the propeller unit relative to the center of the platform; alpha 1 is the horizontal angle of the propeller unit relative to the center of the platform; beta 1 is the vertical inclination angle of the propeller unit relative to the center of the platform;
t is the thrust matrix of the propeller unit, and the expression is as follows:
wherein T is the thrust generated by each propeller unit;
And distributing all the thrust required by each propeller unit according to the position and the direction of the propeller unit, combining the duty ratio of each propeller unit according to the direction and the position of each propeller unit, and meeting the requirements of the total thrust and the direction by taking the minimum total thrust and the total power of the propeller units as optimization targets.
Specifically, the propulsion force can be controlled by monitoring the platform motion variable in real time, and the calculation formula is as follows:
Fth(x)＝-GPΔx-GVv+F0
Consider an extreme condition of hs=14.1, tp=17.8 s, wind speed=38.2 m/s; flow rate vc=1.2 m/s, the total environmental load to which the platform is subjected is 5000kN. Three groups of 100 ton propellers are adopted and are respectively arranged under the upright posts. Wherein the displacement coefficient of the propeller is 20kN/m, and the speed coefficient is 1200 kN/(m/s); the longitudinal displacement of the platform is 22.6m, and the transverse displacement is 2.7 m; the longitudinal speed of the platform is 0.72m/s, and the transverse speed of the platform is 0.06m/s; the thrust constant is 1500kN, and the total thrust of the propeller is 2500kN through calculation, so that the thrust can resist 50% of the total load of the environment borne by the platform, the borne load of the mooring rope is greatly reduced, the offshore floating fan is subjected to larger wave current load, the existing mooring system can meet the requirement of resisting the large load by combining the propeller and the mooring rope, and the safety of the whole mooring system is improved.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (7)
1. A platform monitoring method of a mooring system of a floating offshore wind power platform, which is characterized by comprising the following steps of:
The mooring system of the floating type offshore wind power platform comprises a static mooring system and a dynamic mooring system;
The static mooring system comprises three mooring rope bundles, wherein the mooring rope bundles are connected with the upright posts of the platform; the mooring rope bundle consists of 1-3 mooring ropes, and the mooring rope bundle is in a catenary shape; the centers of the upright posts and the mooring rope bundles are consistent;
the dynamic mooring system comprises a power unit, a propeller unit and a control unit;
the power unit comprises a prime motor, a generator set, a distribution board and a cable;
The propeller unit comprises a supporting rotating shaft, a propeller, a rotating motor and a universal joint;
The control unit comprises a positioning system, a sensor, a computer system, a control interface, a control strategy module and a power management module;
a group of propeller units are arranged below the upright post of the platform, and each group of propeller units comprises 1-4 propeller units;
the platform monitoring system of the mooring system of the floating type offshore wind power platform comprises a positioning monitoring system and an environment measuring system;
The positioning monitoring system comprises a satellite positioning system, a laser positioning system and an underwater ultra-short baseline acoustic positioning device, and the positioning system calculates and obtains the actual direction and position of the platform through measuring the deviation of the direction and distance between the platform and a reference point;
the environment measurement system comprises a platform motion measurement system, an anemoclinograph, an electric compass, a mooring system tension monitoring system and an offshore hydro-meteorological observation platform; the environment measurement system is used for measuring motion parameters of the platform in six degrees of freedom directions, a tension value of the mooring system, wind speed and direction parameters of a fan and wave flow parameters of the environment where the platform is located, so that external force load born by the platform is estimated and obtained;
The platform monitoring method comprises the following steps: first, the external environmental conditions are read by an environmental measurement system: calculating the external load of the platform under the environment by wind, wave and current; reading real-time tension of the mooring system through a positioning monitoring system; reading the relative position and direction of a fan foundation platform through a fan platform positioning monitoring system; the acceleration and the speed of six-degree-of-freedom motion of the platform are read through a fan platform motion monitoring system;
Secondly, the obtained data are imported into a computer system, and according to the design and positioning requirements of the fan platform, the characteristics of the platform are combined: the self characteristics comprise weight, center, floating center, hydrostatic stiffness and damping parameters, and the acting force required for keeping the displacement and direction of the platform is calculated through a computer system, wherein the acting force is the resultant force which is generated by the whole thrust system;
Wind load applied to wind turbine generator system The calculation formula is as follows by adopting the method evaluation of the phyllin momentum theory:
Wherein: Is air density; /(I) Is a thrust coefficient; /(I)For the swept area of the wind wheel,/>R is the radius of the wind wheel; /(I)The average wind speed is 10min for the height of the hub;
wave load applied to platform foundation By measured spectrum/>The calculation is performed as follows:
,
in the method, in the process of the invention, Is an average wave force molecule; /(I)Is a wave direction relative to the longitudinal axis of the platform; /(I)Is the wave drift coefficient relative to the wave direction; /(I)Is a spectrum;
average wind load on platform foundation The wind speed can be obtained through calculation, and the calculation formula is as follows:
in the method, in the process of the invention, Wind power coefficients in all directions of a platform foundation are obtained; /(I)Is the wind direction relative to the longitudinal axis of the platform; /(I)Is the average wind speed;
Flow load on platform foundation The flow rate can be calculated by the following formula:
in the method, in the process of the invention, Primary flow force coefficients in all directions of the fan foundation; /(I)Secondary flow coefficients in all directions of the fan foundation; /(I)，/>Flow rate as a horizontal component; /(I)，/>For longitudinal and transverse speeds of the platform,/>For/>，/>，/>，Calculate an intermediate quantity for substitution/>Is calculated according to the formula (I);
the fan platform calculates the static balance calculation formula as follows:
in the method, in the process of the invention, Is mooring tension; /(I)The static force is the basic hydrostatic force of the platform; /(I)Total resultant force for the propeller unit; streaming load on the platform foundation; /(I) Wind load on the platform foundation; /(I)Wind load applied to the wind turbine generator; /(I)Is loaded by the wave on the platform foundation.
2. A method of platform monitoring a mooring system for a floating offshore wind platform according to claim 1, comprising a group propeller unit control method for at least two groups of propeller unit controls; the method comprises the following steps: and distributing all the thrust required by each propeller unit according to the position and the direction of the propeller unit, combining the duty ratio of each propeller unit according to the direction and the position of each propeller unit, and meeting the requirements of the total thrust and the direction by taking the minimum total thrust and the total power of the propeller units as optimization targets.
3. A method of platform monitoring a mooring system for a floating offshore wind platform according to claim 2, wherein propulsion is providedThe control can be performed by monitoring the platform motion variable in real time, and the calculation formula is as follows:
in the method, in the process of the invention, Is a displacement coefficient matrix; /(I)Is a velocity coefficient matrix; /(I)Is a platform displacement matrix; /(I)Is a platform speed matrix; /(I)Is a thrust constant;
the resultant thrust force is formed by combining thrust forces generated by the propeller units, and the calculation formula is as follows:
wherein A is a propeller unit matrix, which consists of the positions and directions of all propeller units, and the expression is as follows:
in the method, in the process of the invention, Longitudinal coordinates for each thruster unit relative to the platform center; /(I)Transverse coordinates for each thruster unit relative to the platform center; /(I)Vertical coordinates for each thruster unit relative to the platform center; a horizontal angle for each thruster unit relative to the platform centre; /(I) Vertical inclination angles for the respective propeller units relative to the center of the platform;
the thrust matrix for the propeller unit is expressed as follows:
in the method, in the process of the invention, The thrust generated for each propeller unit.
4. A mooring system of a floating offshore wind power platform, and a platform monitoring method of the mooring system of the floating offshore wind power platform according to any one of claims 1-3 is adopted, and the mooring system is characterized in that upright posts of the platform are arranged in an annular array, and the center of the array is the center of the platform or the center of all upright post arrangements; the mooring cable bundles are arranged in an annular array, and the center of the array is the center of the platform or the center of all upright post arrangements.
5. A mooring system for a floating offshore wind platform according to claim 4 wherein each group of propeller units has 360 degrees of freedom in horizontal rotation and 90 degrees up and down in vertical rotation.
6. A mooring system for a floating offshore wind farm according to claim 4, wherein the mooring lines are angled at 120 °.
7. A mooring system for a floating offshore wind platform according to claim 4, wherein each group of thruster units consists of one thruster unit, which thruster unit is mounted directly under the column;
or each group of propeller units consists of two propeller units which are respectively and symmetrically arranged at two sides below the upright post;
or each group of propeller units consists of three propeller units which are uniformly distributed below the upright post, are in an equilateral triangle shape and have equal distance with the central shaft of the upright post;
Or each group of propeller units consists of four propeller units, and the four propeller units are respectively arranged below four corners of the upright post and have the same distance with the central shaft of the upright post.
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